2017-07-08, 02:29 AM
It looks like it is working. I don't know about the other sensors, but I calibrated everything to the mpu9255
It has a very bad magnetic sensor, but it's good enough. I reduced the noise a lot with my changes to mpu9255. I didn't optimize the drivers for any other sensor, so it could be that it just has worse data.
I have been trying to use the hmc5280 magnetometer because it should have 3x the resolution
of the one in the mpu9255, but so far, both parts I have are duds.
It automatically calibrates all the time. It should have enough error checking to prevent really bad fixes from being utilized... It's a tricky problem, and I'm sure it can be improved.
As for calibration, it should receive boat motions. If you move it around in your hand
it will not work very well, it should be fixed to the boat, and the boat moving. After the boat
swings 60 degrees (works even at anchor) then a fix becomes possible.
If you are very careful and can slowly move it away from magnetic distiortions, wires and metal,
then you should be able to calibrate it in your hand as well, but it may still have more noise.
The locking calibration is completely manual right now. It doesn't lock itself, it's a user setting. In theory it shouldn't need locking, as the running fix is always best, but this theory isn't proven just yet.
It has a very bad magnetic sensor, but it's good enough. I reduced the noise a lot with my changes to mpu9255. I didn't optimize the drivers for any other sensor, so it could be that it just has worse data.
I have been trying to use the hmc5280 magnetometer because it should have 3x the resolution
of the one in the mpu9255, but so far, both parts I have are duds.
It automatically calibrates all the time. It should have enough error checking to prevent really bad fixes from being utilized... It's a tricky problem, and I'm sure it can be improved.
As for calibration, it should receive boat motions. If you move it around in your hand
it will not work very well, it should be fixed to the boat, and the boat moving. After the boat
swings 60 degrees (works even at anchor) then a fix becomes possible.
If you are very careful and can slowly move it away from magnetic distiortions, wires and metal,
then you should be able to calibrate it in your hand as well, but it may still have more noise.
The locking calibration is completely manual right now. It doesn't lock itself, it's a user setting. In theory it shouldn't need locking, as the running fix is always best, but this theory isn't proven just yet.